RigidTransformBase< T, D, TRotation, TransformDerived > Class Template Reference

Implementation of RigidTransforms with different dimensionality D. More...

#include <transform/RigidTransform.h>

Public Types
enum	{ Dim = D, HDim = D+1 }
typedef T	Type
	The used floating point type (float, double, long double) More...
typedef Eigen::Matrix< T, D, 1 >	TranslationType
	Vector type used to represent the translational part (dimension depends on dimensionality of transform). More...
typedef TRotation	RotationType
	Type used to represent the rotational part (Eigen::Rotation2D for 2D transforms, Eigen::Quaternion for 3D transforms) More...
typedef Eigen::Matrix< T, HDim, HDim >	MatrixType
	Type of the matrix that can describe the full affine transform in homogeneous space. More...

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	RigidTransformBase (TranslationType translation, RotationType rotation)
TransformDerived	inverse () const
	Computes and returns the inverse transform of this. More...
bool	isApprox (const RigidTransformBase &other, T prec=std::numeric_limits< T >::epsilon()) const
	Returns true if this is approximately equal to other, within the precision determined by prec. More...
TransformDerived &	operator*= (const RigidTransformBase &other)
	Concatenates this transform with an other transform. More...
template<typename OtherDerived >
ei_rigidtransform_product_impl< D, TransformDerived, OtherDerived >::TResult	operator* (const Eigen::MatrixBase< OtherDerived > &other) const
	Apply the transformation to an Eigen matrix. More...
	operator Eigen::Transform< T, D, Eigen::Isometry > ()
	Cast operator that casts the rigid transform into a generic Eigen::Transform object. More...
MatrixType	getMatrix () const
	Computes and returns the matrix that describes the affine transformation in homogeneous space. More...

Public Attributes
TranslationType	t
	Vector that describes the translational part of the transform. More...
RotationType	r
	The rotational part of the transform. More...

Protected Member Functions
TransformDerived *	This ()
	casts this to the actual derived type (see Curiously recurring template pattern) More...
const TransformDerived *	This () const
	casts this to the actual derived type (see Curiously recurring template pattern) More...

Static Protected Member Functions
static TransformDerived	mul (const RigidTransformBase &a, const RigidTransformBase &b)

Friends
TransformDerived	operator* (const RigidTransformBase &a, const RigidTransformBase &b)
	Concatenates the two transformations. More...

Detailed Description

template<typename T, int D, typename TRotation, typename TransformDerived>
class mira::RigidTransformBase< T, D, TRotation, TransformDerived >

Implementation of RigidTransforms with different dimensionality D.

Member Typedef Documentation

Type

typedef T Type

The used floating point type (float, double, long double)

TranslationType

typedef Eigen::Matrix<T,D,1> TranslationType

Vector type used to represent the translational part (dimension depends on dimensionality of transform).

RotationType

typedef TRotation RotationType

Type used to represent the rotational part (Eigen::Rotation2D for 2D transforms, Eigen::Quaternion for 3D transforms)

MatrixType

typedef Eigen::Matrix<T,HDim,HDim> MatrixType

Type of the matrix that can describe the full affine transform in homogeneous space.

Member Enumeration Documentation

anonymous enum

anonymous enum

Enumerator
Dim	dimension of the Eucleadian space
HDim	size of the corresponding homogeneous space

Constructor & Destructor Documentation

RigidTransformBase()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW RigidTransformBase ( TranslationType  translation, RotationType  rotation  )

inline

Member Function Documentation

inverse()

TransformDerived inverse ( void  ) const

inline

Computes and returns the inverse transform of this.

isApprox()

bool isApprox ( const RigidTransformBase< T, D, TRotation, TransformDerived > &  other, T  prec = std::numeric_limits<T>::epsilon()  ) const

inline

Returns true if this is approximately equal to other, within the precision determined by prec.

Returns

true if approximately equal, false otherwise

operator*=()

TransformDerived& operator*= ( const RigidTransformBase< T, D, TRotation, TransformDerived > &  other )

inline

Concatenates this transform with an other transform.

operator*()

ei_rigidtransform_product_impl<D, TransformDerived, OtherDerived>::TResult operator* ( const Eigen::MatrixBase< OtherDerived > &  other ) const

inline

Apply the transformation to an Eigen matrix.

The matrix must be a fixed matrix of the size Dx1 or a dynamic matrix of the same size.

operator Eigen::Transform< T, D, Eigen::Isometry >()

operator Eigen::Transform< T, D, Eigen::Isometry > ( )

inline

Cast operator that casts the rigid transform into a generic Eigen::Transform object.

getMatrix()

MatrixType getMatrix ( ) const

inline

Computes and returns the matrix that describes the affine transformation in homogeneous space.

The dimensions of the matrix is 3x3 for 2D transformations and 4x4 for 3D transformations.

This() [1/2]

TransformDerived* This ( )

inlineprotected

casts this to the actual derived type (see Curiously recurring template pattern)

This() [2/2]

const TransformDerived* This ( ) const

inlineprotected

casts this to the actual derived type (see Curiously recurring template pattern)

mul()

static TransformDerived mul ( const RigidTransformBase< T, D, TRotation, TransformDerived > &  a, const RigidTransformBase< T, D, TRotation, TransformDerived > &  b  )

inlinestaticprotected

Friends And Related Function Documentation

operator*

TransformDerived operator* ( const RigidTransformBase< T, D, TRotation, TransformDerived > &  a, const RigidTransformBase< T, D, TRotation, TransformDerived > &  b  )

friend

Concatenates the two transformations.

Member Data Documentation

t

TranslationType t

Vector that describes the translational part of the transform.

r

RotationType r

The rotational part of the transform.

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The documentation for this class was generated from the following file:

• base/include/transform/RigidTransform.h